Tracking control of wheeled mobile robots with communication delay and data loss. (English) Zbl 1401.93148
Summary: This paper considers the tracking control problem of a wheeled mobile robot under situation of communication delay and consecutive data packet dropouts in the feedback channel. A tracking controller in discrete-time domain for the case of ideal network condition is first derived, and then the networked predictive controller as well as two algorithms for dealing with communication delay and consecutive data packet dropouts are proposed. Simulation and experimental results verify the realizability and effectiveness of the proposed algorithms.
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93-04 | Software, source code, etc. for problems pertaining to systems and control theory |
| 93C55 | Discrete-time control/observation systems |
| 93B52 | Feedback control |
Keywords:
communication delay; consecutive data loss; networked predictive control; trajectory tracking; wheeled mobile robotReferences:
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